Autonomous stair detection and climbing systems for a tracked robot

Chien-Kai Tseng, I. Li, Yi-Hsing Chien, Ming-Chang Chen, Wei-Yen Wang
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引用次数: 16

Abstract

Currently autonomous mobile robots offer a diversity of types and functions. This paper mainly emphasizes on a functionality and practicality of self-made tracked robot, which can move autonomously on a bumpy road, such as stairs and slopes. With information on distance obtained by Kinect sensor, the tracked robot is able to identify different types of roads. In addition, we design four modes, including exploration mode, alignment mode, calculating tilt angle mode and climbing mode, to achieve the tasks of identifying and climbing stairs and slopes.
履带式机器人自主楼梯探测与攀爬系统
目前自主移动机器人提供了多种类型和功能。本文重点研究了自制履带式机器人的功能性和实用性,该机器人能够在楼梯、斜坡等凹凸不平的路面上自主移动。利用Kinect传感器获得的距离信息,履带式机器人能够识别不同类型的道路。此外,我们设计了探索模式、对准模式、计算倾斜角模式和攀爬模式四种模式,实现了楼梯和斜坡的识别和攀爬任务。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
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